학술논문
Lower Limb Exoskeleton for Rehabilitation with Flexible Joints and Movement Routines Commanded by Electromyography and Baropodometry Sensors.
Document Type
Academic Journal
Author
Rosales-Luengas Y; Centro de Investigación y de Estudios Avanzados del Instituto Politécnico Nacional (CINVESTAV), Av. IPN #2508, San Pedro Zacatenco, Mexico City 07360, Mexico.; Espinosa-Espejel KI; Centro de Investigación y de Estudios Avanzados del Instituto Politécnico Nacional (CINVESTAV), Av. IPN #2508, San Pedro Zacatenco, Mexico City 07360, Mexico.; Lopéz-Gutiérrez R; Investigador por México-Consejo Nacional de Humanidades, Ciencias y Tegnologías (IXM-CONAHCYT), Av. de los Insurgentes Sur #1582, Crédito Constructor, Benito Juárez, Mexico City 03940, Mexico.; Salazar S; Centro de Investigación y de Estudios Avanzados del Instituto Politécnico Nacional (CINVESTAV), Av. IPN #2508, San Pedro Zacatenco, Mexico City 07360, Mexico.; Lozano R; Centro de Investigación y de Estudios Avanzados del Instituto Politécnico Nacional (CINVESTAV), Av. IPN #2508, San Pedro Zacatenco, Mexico City 07360, Mexico.; CNRS UMR 7253 Heudiasyc, Université de Technologie de Compiegne, 60203 Compiegne, France.
Source
Publisher: MDPI Country of Publication: Switzerland NLM ID: 101204366 Publication Model: Electronic Cited Medium: Internet ISSN: 1424-8220 (Electronic) Linking ISSN: 14248220 NLM ISO Abbreviation: Sensors (Basel) Subsets: MEDLINE
Subject
Language
English
Abstract
This paper presents the development of an instrumented exoskeleton with baropodometry, electromyography, and torque sensors. The six degrees of freedom (Dof) exoskeleton has a human intention detection system based on a classifier of electromyographic signals coming from four sensors placed in the muscles of the lower extremity together with baropodometric signals from four resistive load sensors placed at the front and rear parts of both feet. In addition, the exoskeleton is instrumented with four flexible actuators coupled with torque sensors. The main objective of the paper was the development of a lower limb therapy exoskeleton, articulated at hip and knees to allow the performance of three types of motion depending on the detected user's intention: sitting to standing, standing to sitting, and standing to walking. In addition, the paper presents the development of a dynamical model and the implementation of a feedback control in the exoskeleton.